Tip-over prevention: Adaptive control development and experimentation

Kelley, L. R.; Talke, Kurt; Longhini, Patrick; Catron, Garret

doi:10.1109/icra.2015.7139802

Cited by 6 publications

(6 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…To keep the tendon drive continuum in a fully driven state and to meet the need for even arrangement of tendons, the minimum number of tendons in the continuum part is three. The tendon routing of the tendon-driven continuum can be divided into parallel tendons and helical tendons [24]. When a parallel tendon is added so that the BFWL module has four parallel tendons, the degrees of freedom of the tendon-driven continuum do not increase [25,26].…”

Section: Design Of Leg-wheel Mechanismmentioning

confidence: 99%

“…When the target turning radius R b is obtained by using Equation (20), it can be brought into Equation (23) to obtain the implicit functions of θ i and ϕ i that satisfy the conditions. Then, the appropriate parameters of θ i and ϕ i are selected and brought into Equation (24), and the twisting speed w i of the i-th leg can be calculated.…”

Section: Kinematic Modeling Of Wheeled Motionmentioning

confidence: 99%

“…Robot overturning is a common cause of robots not working normally during robot motion, especially in complex environments, where robots are often faced with unpredictable obstacles and terrain that can cause them to overturn [24]. Robot overturning not only causes damage and stops the robot from working but also may lead to safety risks in dangerous environments, so it is important to resume work quickly after the robot is overturned.…”

Section: Post-overturning Motion Experimentsmentioning

confidence: 99%

See 2 more Smart Citations

Design and Motion Analysis of a Soft-Limb Robot Inspired by Bacterial Flagella

Liu

et al. 2023

Biomimetics

View full text Add to dashboard Cite

Soft robots demonstrate an impressive ability to adapt to objects and environments. However, current soft mobile robots often use a single mode of movement. This gives soft robots good locomotion performance in specific environments but poor performance in others. In this paper, we propose a leg–wheel mechanism inspired by bacterial flagella and use it to design a leg–wheel robot. This mechanism employs a tendon-driven continuum structure to replicate the bacterial flagellar filaments, while servo and gear components mimic the action of bacterial flagellar motors. By utilizing twisting and swinging motions of the continuum structure, the robot achieves both wheeled and legged locomotion. The paper provides comprehensive descriptions and detailed kinematic analysis of the mechanism and the robot. To verify the feasibility of the robot, a prototype was implemented, and experiments were performed on legged mode, wheeled mode, and post-overturning motion. The experimental results demonstrate that the robot can achieve legged and wheeled motions. Moreover, it is also demonstrated that the robot still has mobility after overturning. This expands the applicability scenarios of the current soft mobile robot.

show abstract

Section: Design Of Leg-wheel Mechanismmentioning

confidence: 99%

Section: Kinematic Modeling Of Wheeled Motionmentioning

confidence: 99%

Section: Post-overturning Motion Experimentsmentioning

confidence: 99%

See 1 more Smart Citation

Design and Motion Analysis of a Soft-Limb Robot Inspired by Bacterial Flagella

Liu

et al. 2023

Biomimetics

View full text Add to dashboard Cite

show abstract

“…The robot has a microphone array on the top of the lift for speech recognition and sound source localization. The mobile base also has an inertial measurement unit (IMU) with rate gyros, accelerometers, and a magnetometer that can be used for navigation and tilt detection to avoid tipping and toppling [39]. The wrist has accelerometers that can be used for bump sensing, and the D345i has rate gyros and accelerometers useful for visual perception.…”

Section: G Stretch's Sensorsmentioning

confidence: 99%

The Design of Stretch: A Compact, Lightweight Mobile Manipulator for Indoor Human Environments

Kemp¹,

Edsinger²,

Clever³

et al. 2021

Preprint

View full text Add to dashboard Cite

Mobile manipulators for indoor human environments can serve as versatile devices that perform a variety of tasks, yet adoption of this technology has been limited. Reducing size, weight, and cost could facilitate adoption, but risks restricting capabilities. We present a novel design that reduces size, weight, and cost, while still performing a variety of tasks. The core design consists of a two-wheeled differentialdrive mobile base, a lift, and a telescoping arm configured to achieve Cartesian motion at the end of the arm. Design extensions include a 1 degree-of-freedom (DOF) wrist to stow a tool, a 2-DOF dexterous wrist to pitch and roll a tool, and a compliant gripper. We justify our design with mathematical models of static stability that relate the robot's size and weight to its workspace, payload, and applied forces. We also provide empirical support by teleoperating and autonomously controlling a commercial robot based on our design (the Stretch RE1 from Hello Robot Inc.) to perform tasks in real homes.

show abstract

“…Liu et al have reported a real-time tip-over avoidance algorithm, which makes the best of online change of tracked vehicle configuration and adjustment of onboard manipulator s' posture [19], [24]. Moreover, many other traditional algorithms (minimum distance method [26], adaptive control method [27], inverse motion method [28], genetic method [29] and neural network based on observer method Caron et al [10]) have been being applied in robot's tip-over avoidance.…”

Section: Introductionmentioning

confidence: 99%

Online Dynamic Tip-Over Avoidance for a Wheeled Mobile Manipulator With an Improved Tip-Over Moment Stability Criterion

et al. 2019

View full text Add to dashboard Cite

Tipping over avoidance is critical for the success of mobile manipulation, especially in the cases that the onboard manipulators or the mobile vehicles move rapidly. Due to strong dynamics coupling between the onboard manipulator and mobile vehicle, online evaluation of dynamic stability of mobile manipulators and generation of strategies for tip-over avoidance still remain challenging. This paper presents an improvement tip-over moment stability criterion dealing with wheel-terrain and vehicle-manipulator interaction and proposes a real-time tip-over avoidance algorithm to minimize the tip-over moment transfer through either adjusting the posture of the onboard manipulators or changing the running velocity of the vehicle. The simulations and experiments on a four-wheeled mobile manipulator validate the correctness and feasibility of the proposed method. INDEX TERMS Mobile manipulator, tip-over avoidance, tip-over moment, wheeled-terrain interaction, vehicle-manipulator interaction.

show abstract

Tip-over prevention: Adaptive control development and experimentation

Cited by 6 publications

References 5 publications

Design and Motion Analysis of a Soft-Limb Robot Inspired by Bacterial Flagella

Design and Motion Analysis of a Soft-Limb Robot Inspired by Bacterial Flagella

The Design of Stretch: A Compact, Lightweight Mobile Manipulator for Indoor Human Environments

Online Dynamic Tip-Over Avoidance for a Wheeled Mobile Manipulator With an Improved Tip-Over Moment Stability Criterion

Contact Info

Product

Resources

About